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Made improvements to the handling of small rotations in Quat and

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TerrainManipulator
This commit is contained in:
Robert Osfield
2004-05-20 23:25:26 +00:00
parent 48d148601b
commit ab2b817e61
3 changed files with 37 additions and 11 deletions
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7
src/osg/Quat.cpp
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@@ -14,6 +14,7 @@
#include <osg/Quat>
#include <osg/Matrixf>
#include <osg/Matrixd>
#include <osg/Notify>
#include <math.h>
@@ -103,7 +104,7 @@ void Quat::makeRotate( const Vec3f& from, const Vec3f& to )
// are co-incident or opposite in direction.
void Quat::makeRotate( const Vec3d& from, const Vec3d& to )
{
const value_type epsilon = 0.00001;
const value_type epsilon = 0.0000001;
value_type length1 = from.length();
value_type length2 = to.length();
@@ -113,10 +114,12 @@ void Quat::makeRotate( const Vec3d& from, const Vec3d& to )
if ( fabs(cosangle - 1) < epsilon )
{
osg::notify(osg::INFO)<<"*** Quat::makeRotate(from,to) with near co-linear vectors, epsilon= "<<fabs(cosangle-1)<<std::endl;
// cosangle is close to 1, so the vectors are close to being coincident
// Need to generate an angle of zero with any vector we like
// We'll choose (1,0,0)
makeRotate( 0.0, 1.0, 0.0, 0.0 );
makeRotate( 0.0, 0.0, 0.0, 1.0 );
}
else
if ( fabs(cosangle + 1.0) < epsilon )